Merge pull request #3275 from birarda/oculus-dk2

integration of Oculus 0.4.1 for DK2 positional tracking

cmake/modules/FindATL.cmake

@@ -0,0 +1,29 @@
+# 
+#  FindATL.cmake
+# 
+#  Try to find the ATL library needed to use the LibOVR
+#
+#  Once done this will define
+#
+#  ATL_FOUND - system found ATL
+#  ATL_LIBRARIES - Link this to use ATL
+#
+#  Created on 8/13/2013 by Stephen Birarda
+#  Copyright 2014 High Fidelity, Inc.
+#
+#  Distributed under the Apache License, Version 2.0.
+#  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+# 
+
+if (WIN32)
+	find_library(ATL_LIBRARY_RELEASE atls PATH_SUFFIXES "7600.16385.1/lib/ATL/i386" HINTS "C:\\WinDDK")
+  find_library(ATL_LIBRARY_DEBUG atlsd PATH_SUFFIXES "7600.16385.1/lib/ATL/i386" HINTS "C:\\WinDDK")
+  
+  include(SelectLibraryConfigurations)
+  select_library_configurations(ATL)
+endif ()
+
+set(ATL_LIBRARIES "${ATL_LIBRARY}")
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(ATL DEFAULT_MSG ATL_LIBRARIES)

cmake/modules/FindLibOVR.cmake

@@ -27,8 +27,8 @@ find_path(LIBOVR_SRC_DIR Util_Render_Stereo.h PATH_SUFFIXES Src/Util HINTS ${LIB
 include(SelectLibraryConfigurations)
 
 if (APPLE)
-  find_library(LIBOVR_LIBRARY_DEBUG NAMES ovr PATH_SUFFIXES Lib/MacOS/Debug HINTS ${LIBOVR_SEARCH_DIRS})
-  find_library(LIBOVR_LIBRARY_RELEASE NAMES ovr PATH_SUFFIXES Lib/MacOS/Release HINTS ${LIBOVR_SEARCH_DIRS})
+  find_library(LIBOVR_LIBRARY_DEBUG NAMES ovr PATH_SUFFIXES Lib/Mac/Debug HINTS ${LIBOVR_SEARCH_DIRS})
+  find_library(LIBOVR_LIBRARY_RELEASE NAMES ovr PATH_SUFFIXES Lib/Mac/Release HINTS ${LIBOVR_SEARCH_DIRS})
   find_library(ApplicationServices ApplicationServices)
   find_library(IOKit IOKit)
 elseif (UNIX)
@@ -50,24 +50,27 @@ elseif (UNIX)
 elseif (WIN32)   
   find_library(LIBOVR_LIBRARY_DEBUG NAMES libovrd PATH_SUFFIXES Lib/Win32/VS2010 HINTS ${LIBOVR_SEARCH_DIRS})
   find_library(LIBOVR_LIBRARY_RELEASE NAMES libovr PATH_SUFFIXES Lib/Win32/VS2010 HINTS ${LIBOVR_SEARCH_DIRS})
+  find_package(ATL)
 endif ()
 
 select_library_configurations(LIBOVR)
-set(LIBOVR_LIBRARIES "${LIBOVR_LIBRARY}")
+set(LIBOVR_LIBRARIES ${LIBOVR_LIBRARY})
+
+list(APPEND LIBOVR_ARGS_LIST LIBOVR_INCLUDE_DIRS LIBOVR_SRC_DIR LIBOVR_LIBRARY)
 
 if (APPLE)
-  set(LIBOVR_LIBRARIES "${LIBOVR_LIBRARIES}" ${IOKit} ${ApplicationServices})
+  list(APPEND LIBOVR_LIBRARIES ${IOKit} ${ApplicationServices})
+  list(APPEND LIBOVR_ARGS_LIST IOKit ApplicationServices)
 elseif (UNIX) 
-  set(LIBOVR_LIBRARIES "${LIBOVR_LIBRARIES}" "${UDEV_LIBRARY}" "${XINERAMA_LIBRARY}")
+  list(APPEND LIBOVR_LIBRARIES "${UDEV_LIBRARY}" "${XINERAMA_LIBRARY}")
+  list(APPEND LIBOVR_ARGS_LIST UDEV_LIBRARY XINERAMA_LIBRARY)
+elseif (WIN32)
+  list(APPEND LIBOVR_LIBRARIES ${ATL_LIBRARIES})
+  list(APPEND LIBOVR_ARGS_LIST ATL_LIBRARIES)
 endif ()
 
 include(FindPackageHandleStandardArgs)
-if (APPLE)
-  find_package_handle_standard_args(LibOVR DEFAULT_MSG LIBOVR_INCLUDE_DIRS LIBOVR_SRC_DIR LIBOVR_LIBRARIES IOKit ApplicationServices)
-elseif (UNIX)
-  find_package_handle_standard_args(LibOVR DEFAULT_MSG LIBOVR_INCLUDE_DIRS LIBOVR_SRC_DIR LIBOVR_LIBRARIES UDEV_LIBRARY XINERAMA_LIBRARY)
-else ()
-  find_package_handle_standard_args(LibOVR DEFAULT_MSG LIBOVR_INCLUDE_DIRS LIBOVR_SRC_DIR LIBOVR_LIBRARIES)
-endif ()
 
-mark_as_advanced(LIBOVR_INCLUDE_DIRS LIBOVR_LIBRARIES OCULUS_SEARCH_DIRS)
+find_package_handle_standard_args(LibOVR DEFAULT_MSG ${LIBOVR_ARGS_LIST})
+
+mark_as_advanced(LIBOVR_INCLUDE_DIRS LIBOVR_LIBRARIES LIBOVR_SEARCH_DIRS)

interface/CMakeLists.txt

@@ -8,7 +8,6 @@ foreach(EXTERNAL ${OPTIONAL_EXTERNALS})
   if (NOT ${${EXTERNAL}_UPPERCASE}_ROOT_DIR)
     string(TOLOWER ${EXTERNAL} ${EXTERNAL}_LOWERCASE)
     set(${${EXTERNAL}_UPPERCASE}_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/external/${${EXTERNAL}_LOWERCASE}")
-    message("Dir for ${EXTERNAL} is ${${${EXTERNAL}_UPPERCASE}_ROOT_DIR}")
   endif ()
 endforeach()
 

interface/src/Application.cpp

@@ -1440,6 +1440,15 @@ void Application::setEnable3DTVMode(bool enable3DTVMode) {
 }
 
 void Application::setEnableVRMode(bool enableVRMode) {
+    if (enableVRMode) {
+        if (!OculusManager::isConnected()) {
+            // attempt to reconnect the Oculus manager - it's possible this was a workaround
+            // for the sixense crash
+            OculusManager::disconnect();
+            OculusManager::connect();
+        }
+    }
+    
     resizeGL(_glWidget->width(), _glWidget->height());
 }
 

interface/src/avatar/MyAvatar.cpp

@@ -255,6 +255,12 @@ void MyAvatar::updateFromTrackers(float deltaTime) {
         estimatedRotation.x *= -1.0f;
         estimatedRotation.z *= -1.0f;
 
+    } else if (OculusManager::isConnected()) {
+        estimatedPosition = OculusManager::getRelativePosition();
+        estimatedPosition.x *= -1.0f;
+        
+        const float OCULUS_LEAN_SCALE = 0.05f;
+        estimatedPosition /= OCULUS_LEAN_SCALE;
     } else {
         FaceTracker* tracker = Application::getInstance()->getActiveFaceTracker();
         if (tracker) {

interface/src/devices/OculusManager.cpp

@@ -44,7 +44,7 @@ ovrFovPort OculusManager::_eyeFov[ovrEye_Count];
 ovrEyeRenderDesc OculusManager::_eyeRenderDesc[ovrEye_Count];
 ovrSizei OculusManager::_renderTargetSize;
 ovrVector2f OculusManager::_UVScaleOffset[ovrEye_Count][2];
-GLuint  OculusManager::_vertices[ovrEye_Count] = { 0, 0 };
+GLuint OculusManager::_vertices[ovrEye_Count] = { 0, 0 };
 GLuint OculusManager::_indices[ovrEye_Count] = { 0, 0 };
 GLsizei OculusManager::_meshSize[ovrEye_Count] = { 0, 0 };
 ovrFrameTiming OculusManager::_hmdFrameTiming;
@@ -66,12 +66,14 @@ void OculusManager::connect() {
             UserActivityLogger::getInstance().connectedDevice("hmd", "oculus");
         }
         _isConnected = true;
-      
+#if defined(__APPLE__) || defined(_WIN32)
+        _eyeFov[0] = _ovrHmd->DefaultEyeFov[0];
+        _eyeFov[1] = _ovrHmd->DefaultEyeFov[1];
+#else
         ovrHmd_GetDesc(_ovrHmd, &_ovrHmdDesc);
-
         _eyeFov[0] = _ovrHmdDesc.DefaultEyeFov[0];
         _eyeFov[1] = _ovrHmdDesc.DefaultEyeFov[1];
-
+#endif
         //Get texture size
         ovrSizei recommendedTex0Size = ovrHmd_GetFovTextureSize(_ovrHmd, ovrEye_Left,
                                                                 _eyeFov[0], 1.0f);
@@ -86,11 +88,21 @@ void OculusManager::connect() {
         _eyeRenderDesc[0] = ovrHmd_GetRenderDesc(_ovrHmd, ovrEye_Left, _eyeFov[0]);
         _eyeRenderDesc[1] = ovrHmd_GetRenderDesc(_ovrHmd, ovrEye_Right, _eyeFov[1]);
 
+#if defined(__APPLE__) || defined(_WIN32)
+        ovrHmd_SetEnabledCaps(_ovrHmd, ovrHmdCap_LowPersistence);
+#else
         ovrHmd_SetEnabledCaps(_ovrHmd, ovrHmdCap_LowPersistence | ovrHmdCap_LatencyTest);
+#endif
 
+#if defined(__APPLE__) || defined(_WIN32)
+        ovrHmd_ConfigureTracking(_ovrHmd, ovrTrackingCap_Orientation | ovrTrackingCap_Position |
+                                 ovrTrackingCap_MagYawCorrection,
+                                 ovrTrackingCap_Orientation);
+#else
         ovrHmd_StartSensor(_ovrHmd, ovrSensorCap_Orientation | ovrSensorCap_YawCorrection |
                            ovrSensorCap_Position,
                            ovrSensorCap_Orientation);
+#endif
 
         if (!_camera) {
             _camera = new Camera;
@@ -123,6 +135,10 @@ void OculusManager::connect() {
 
     } else {
         _isConnected = false;
+        
+        // we're definitely not in "VR mode" so tell the menu that
+        Menu::getInstance()->getActionForOption(MenuOption::EnableVRMode)->setChecked(false);
+        
         ovrHmd_Destroy(_ovrHmd);
         ovr_Shutdown();
     }
@@ -183,6 +199,16 @@ void OculusManager::generateDistortionMesh() {
         DistortionVertex* v = pVBVerts;
         ovrDistortionVertex* ov = meshData.pVertexData;
         for (unsigned int vertNum = 0; vertNum < meshData.VertexCount; vertNum++) {
+#if defined(__APPLE__) || defined(_WIN32)
+            v->pos.x = ov->ScreenPosNDC.x;
+            v->pos.y = ov->ScreenPosNDC.y;
+            v->texR.x = ov->TanEyeAnglesR.x;
+            v->texR.y = ov->TanEyeAnglesR.y;
+            v->texG.x = ov->TanEyeAnglesG.x;
+            v->texG.y = ov->TanEyeAnglesG.y;
+            v->texB.x = ov->TanEyeAnglesB.x;
+            v->texB.y = ov->TanEyeAnglesB.y;
+#else
             v->pos.x = ov->Pos.x;
             v->pos.y = ov->Pos.y;
             v->texR.x = ov->TexR.x;
@@ -191,6 +217,7 @@ void OculusManager::generateDistortionMesh() {
             v->texG.y = ov->TexG.y;
             v->texB.x = ov->TexB.x;
             v->texB.y = ov->TexB.y;
+#endif
             v->color.r = v->color.g = v->color.b = (GLubyte)(ov->VignetteFactor * 255.99f);
             v->color.a = (GLubyte)(ov->TimeWarpFactor * 255.99f);
             v++; 
@@ -291,12 +318,23 @@ void OculusManager::display(const glm::quat &bodyOrientation, const glm::vec3 &p
     glPushMatrix();
   
     glm::quat orientation;
-  
+    glm::vec3 trackerPosition;
+    
+#if defined(__APPLE__) || defined(_WIN32)
+    ovrTrackingState ts = ovrHmd_GetTrackingState(_ovrHmd, ovr_GetTimeInSeconds());
+    ovrVector3f ovrHeadPosition = ts.HeadPose.ThePose.Position;
+    
+    trackerPosition = glm::vec3(ovrHeadPosition.x, ovrHeadPosition.y, ovrHeadPosition.z);
+    trackerPosition = bodyOrientation * trackerPosition;
+#endif
+    
     //Render each eye into an fbo
     for (int eyeIndex = 0; eyeIndex < ovrEye_Count; eyeIndex++) {
-
+#if defined(__APPLE__) || defined(_WIN32)
+        ovrEyeType eye = _ovrHmd->EyeRenderOrder[eyeIndex];
+#else
         ovrEyeType eye = _ovrHmdDesc.EyeRenderOrder[eyeIndex];
-
+#endif
         //Set the camera rotation for this eye
         eyeRenderPose[eye] = ovrHmd_GetEyePose(_ovrHmd, eye);
         orientation.x = eyeRenderPose[eye].Orientation.x;
@@ -305,7 +343,8 @@ void OculusManager::display(const glm::quat &bodyOrientation, const glm::vec3 &p
         orientation.w = eyeRenderPose[eye].Orientation.w;
         
         _camera->setTargetRotation(bodyOrientation * orientation);
-        _camera->setTargetPosition(position);
+        _camera->setTargetPosition(position + trackerPosition);
+        
         _camera->update(1.0f / Application::getInstance()->getFps());
 
         Matrix4f proj = ovrMatrix4f_Projection(_eyeRenderDesc[eye].Fov, whichCamera.getNearClip(), whichCamera.getFarClip(), true);
@@ -425,19 +464,32 @@ void OculusManager::renderDistortionMesh(ovrPosef eyeRenderPose[ovrEye_Count]) {
 //Tries to reconnect to the sensors
 void OculusManager::reset() {
 #ifdef HAVE_LIBOVR
-    disconnect();
-    connect();
+    if (_isConnected) {
+        ovrHmd_RecenterPose(_ovrHmd);
+    }
 #endif
 }
 
 //Gets the current predicted angles from the oculus sensors
 void OculusManager::getEulerAngles(float& yaw, float& pitch, float& roll) {
 #ifdef HAVE_LIBOVR
+#if defined(__APPLE__) || defined(_WIN32)
+    ovrTrackingState ts = ovrHmd_GetTrackingState(_ovrHmd, ovr_GetTimeInSeconds());
+#else
     ovrSensorState ss = ovrHmd_GetSensorState(_ovrHmd, _hmdFrameTiming.ScanoutMidpointSeconds);
-
+#endif
+#if defined(__APPLE__) || defined(_WIN32) 
+    if (ts.StatusFlags & (ovrStatus_OrientationTracked | ovrStatus_PositionTracked)) {
+#else
     if (ss.StatusFlags & (ovrStatus_OrientationTracked | ovrStatus_PositionTracked)) {
-        ovrPosef pose = ss.Predicted.Pose;
-        Quatf orientation = Quatf(pose.Orientation);
+#endif
+        
+#if defined(__APPLE__) || defined(_WIN32)
+        ovrPosef headPose = ts.HeadPose.ThePose;
+#else
+        ovrPosef headPose = ss.Predicted.Pose;
+#endif
+        Quatf orientation = Quatf(headPose.Orientation);
         orientation.GetEulerAngles<Axis_Y, Axis_X, Axis_Z, Rotate_CCW, Handed_R>(&yaw, &pitch, &roll);
     } else {
         yaw = 0.0f;
@@ -450,6 +502,18 @@ void OculusManager::getEulerAngles(float& yaw, float& pitch, float& roll) {
     roll = 0.0f;
 #endif
 }
+    
+glm::vec3 OculusManager::getRelativePosition() {
+#if defined(__APPLE__) || defined(_WIN32)
+    ovrTrackingState trackingState = ovrHmd_GetTrackingState(_ovrHmd, ovr_GetTimeInSeconds());
+    ovrVector3f headPosition = trackingState.HeadPose.ThePose.Position;
+    
+    return glm::vec3(headPosition.x, headPosition.y, headPosition.z);
+#else
+    // no positional tracking in Linux yet
+    return glm::vec3(0.0f, 0.0f, 0.0f);
+#endif
+}
 
 //Used to set the size of the glow framebuffers
 QSize OculusManager::getRenderTargetSize() {

interface/src/devices/OculusManager.h

@@ -40,6 +40,7 @@ public:
     /// param \pitch[out] pitch in radians
     /// param \roll[out] roll in radians
     static void getEulerAngles(float& yaw, float& pitch, float& roll);
+    static glm::vec3 getRelativePosition();
     static QSize getRenderTargetSize();
     
 private:

interface/src/devices/SixenseManager.cpp

@@ -19,6 +19,7 @@
 #include "UserActivityLogger.h"
 
 #ifdef HAVE_SIXENSE
+
 const int CALIBRATION_STATE_IDLE = 0;
 const int CALIBRATION_STATE_X = 1;
 const int CALIBRATION_STATE_Y = 2;
@@ -41,8 +42,9 @@ SixenseManager::SixenseManager() {
     // By default we assume the _neckBase (in orb frame) is as high above the orb 
     // as the "torso" is below it.
     _neckBase = glm::vec3(NECK_X, -NECK_Y, NECK_Z);
-
+    
     sixenseInit();
+    
 #endif
     _hydrasConnected = false;
     _triggerPressed[0] = false;

interface/src/devices/SixenseManager.h

@@ -71,7 +71,7 @@ private:
     glm::vec3 _reachUp;
     glm::vec3 _reachForward;
     float _lastDistance;
-
+    
 #endif
     bool _hydrasConnected;
     quint64 _lastMovement;